Tree: 1cf9655b4a

AP_Periph-1.3

Copter-4.2

Copter-4.2-BW

apm_2208

apm_2208-rover

apm_2208-rover-debug

c421

copter407

gps-1.3.1

main

master

master_rangefinder

mission-4.1.18

periph-1.3.1

release-4.2.3

rover_4.3

zr-sdk-4.3.1

zr-v5.0

zr-v5.1

zr/Rover-4.3

zr/main-4.3

zr_rover4.2

数字绿土/zr-v5.0

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Commit Graph

554 Commits (1cf9655b4ab01b8d68f78973f269513e96c136a0)

Author	SHA1	Message	Date
Andrew Tridgell	c9755cf9e6	AP_NavEKF2: make mag variance reporting consistent ... logged scaled variance should match the value used in MAVLink EKF_STATUS_REPORT	5 years ago
Peter Barker	903d81c263	AP_NavEKF2: use compass reference rather than repeatedly asking AHRS for it	5 years ago
Andrew Tridgell	9030590a88	AP_NavEKF2: fixed use of antenna position when switching GPS primary ... when GPS primary switches we were using a position which had not been corrected for antenna offset. This was used for calculating the reset for sensor change. This fixes that (trivial fix) and also fixes a similar issue on position reset	5 years ago
Siddharth Purohit	4cca1c307c	AP_NavEKF2: Primary compass is always at serial number 0	5 years ago
Peter Hall	e0eeb4f863	AP_NavEKF2: add initalized flag and change to uint32_t	5 years ago
chobits	a54f24c8c0	AP_NavEKF2: switch to optflow if gps is jammed	5 years ago
Peter Barker	da3d3cc21b	AP_NavEKF: stop taking ahrs in constructor	5 years ago
Peter Hall	2970334c0d	AP_NavEKF2: get_time_flying in vehicle	5 years ago
Peter Barker	524647d221	AP_NavEKF2: use instance number when logging rather than multiple message IDs	5 years ago
Peter Barker	060c851709	AP_NavEKF2: make send_status_report const	5 years ago
Peter Barker	369292f7f3	AP_NavEKF2: stop relying on the presence of a RangeFinder	5 years ago
Peter Barker	239df941e5	AP_NavEKF2: use instance # when logging EKF core timings	5 years ago
Andrew Tridgell	fce4d6952f	AP_NavEKF2: don't use WMM tables unless we have a compass scale factor set	5 years ago
Mark Whitehorn	5f6b3a1f5b	AP_NavEKF2: clean up init failure handling ... only attempt to allocate memory once	5 years ago
Peter Barker	99689f65f8	AP_NavEKF2: adjust for renaming of RangeFinder files	5 years ago
Peter Barker	9735684184	AP_NavEKF2: use enum-class for RangeFinder Status	5 years ago
Mark Whitehorn	23ee9eef5f	AP_NavEKF2: fail prearm on any core setup failure	5 years ago
Mark Whitehorn	489ae83604	AP_NavEKF2: handle core setup failures	5 years ago
Mark Whitehorn	7c6630e216	AP_NavEKF2: EKF2 prefix for prearm failures and camelCase	5 years ago
Mark Whitehorn	95ea6ad807	AP_NavEKF2: provide reasons for init failures	5 years ago
Randy Mackay	cc5facf6d2	AP_NavEKF2: initialise pre-arm failure message	5 years ago
Mark Whitehorn	6e73feca5c	AP_NavEKF2: add prearm failure message for null core pointer	5 years ago
Randy Mackay	e32a8556b2	AP_NavEKF2: suppress ekf fail-to-set-origin if core disabled	5 years ago
Randy Mackay	e2d3afaaa7	AP_NavEKF2: reduce EK2_HRT_FILT max to 30	5 years ago
Paul Riseborough	c26c6fd078	AP_NavEKF2: Add missing vertical position derivative calculation ... Use a third order order complementary filter to estimate the rate of change of vertical position output.	5 years ago
Andrew Tridgell	cbe34320b5	AP_NavEKF2: fixed build ... broken by recent common variable change	5 years ago
Andrew Tridgell	f7e138bddd	AP_NavEKF2: use parent class for intermediate static variables ... this makes the code faster as well as using less memory when both EK2 and EK3 are enabled	5 years ago
Andrew Tridgell	8dd2119b14	AP_NavEKF2: make it easy to do EK2 timing tests ... for future benchmarking	5 years ago
Andrew Tridgell	163efd0df5	AP_NavEKF2: change optimisation from -O3 to -O2	5 years ago
Peter Barker	952d4d2cbc	AP_NavEKF2: initialise Kfusion stack variable to fix compilation ... This fixes the compilation, as previous patches have done.	5 years ago
Andrew Tridgell	d40d812ea4	AP_NavEKF2: fixed build with g++ 9.1 ... this is a false positive, but the cost of clearing this array is low, and it saves a much more complex fix	5 years ago
Andrew Tridgell	9226899c6f	AP_NavEKF2: added comment (review request)	5 years ago
Andrew Tridgell	255981c60c	AP_NavEKF2: moved some of the intermediate vars to the stack ... this keeps stack frames below 1k, while giving faster access to the variables and saving more memory	5 years ago
Andrew Tridgell	96c6544997	AP_NavEKF3: moved intermediate variables to common memory ... this moves intermediate variables from being per-core to being common between cores. This saves memory on systems with more than one core by avoiding allocating this memory on every core. This is an alternative to #11717 which moves memory onto the stack. It doesn't save as much memory as #11717, but avoids creating large stack frames	5 years ago
Andrew Tridgell	0041874826	AP_NavEKF2: moved intermediate variables to common memory ... this moves intermediate variables from being per-core to being common between cores. This saves memory on systems with more than one core by avoiding allocating this memory on every core. This is an alternative to #11717 which moves memory onto the stack. It doesn't save as much memory as #11717, but avoids creating large stack frames	5 years ago
Andrew Tridgell	1d47f9186e	AP_NavEKF2: fixed use of old irqsave() API	5 years ago
Peter Barker	3619856fc9	AP_NavEKF2: correct return of empty prearm string	5 years ago
Randy Mackay	94a52b3525	EKF2: RNG_USE_HGT param only used when ALT_SOURCE = rangefinder	5 years ago
Michael du Breuil	a4d10b2e86	AP_NavEKF2: Allow the GPS to be responsible for logging	5 years ago
Peter Barker	c8fac758ee	AP_NavEKF2: use timing logging from AP_NavEKF	6 years ago
Andrew Tridgell	414d3eb670	AP_NavEKF2: don't fuse GPS when EK2_GPS_TYPE=3 ... when using a vision position system, the user may have vision derived GPS data coming in using GPS_INPUT msgs. We should not fuse these when EK2_GPS_TYPE=3 as we end up fusing both vision data and GPS data, which does not work with the current EK2 code This change makes it possible to run EK2 and EK3 in parallel in a Vicon, wityh EK2 using VISION_POSITION_ESTIMATE data and EK3 using GPS_INPUT (with yaw) data.	6 years ago
hoangthien94	fc9ff2b09a	AP_NavEKF2: add method to check if ext nav is used for yaw	6 years ago
Andrew Tridgell	098701ec79	AP_NavEKF2: fixed baro innovation gate when on ground with AIDING_NONE ... when on the ground without a position source we would disable the innovation gate for the barometer. This meant that a single (or small number of) really bad baro readings would be fused into the EKF, causing it to destabilise Fixes #11903	6 years ago
Andrew Tridgell	e7163afe06	AP_NavEKF2: review fixes ... thanks Paul!	6 years ago
Andrew Tridgell	c57b25b4c9	AP_NavEKF2: ensure that EKF origin stays in sync on all cores ... this prevents the EKF origin on different cores from being initialised to different values. A common value is stored in the frontend and used by a core if it doesn't have an origin	6 years ago
Andrew Tridgell	a01faa2f00	AP_NavEKF2: use origin lat for earth rates ... home may not yet be set when this code is run, so using home may be invalid	6 years ago
Andrew Tridgell	742ae0b750	AP_NavEKF2: set origin on all cores ... when EKF origin is set, make sure it is set on all cores	6 years ago
Andrew Tridgell	5db41147ed	AP_NavEKF2: restrict setting of EKF origin ... only allow EKF origin to be set if EKx_GPS_TYPE is set to 3, which is used for indoor operation	6 years ago
Siddharth Purohit	1527a5b97c	AP_NavEKF2: do logging for 3rd EKF core	6 years ago
Andrew Tridgell	2427440e13	AP_NavEKF2: origin handling fixes from Francisco	6 years ago